/*
 * This file is part of Cleanflight.
 *
 * Cleanflight is free software. You can redistribute
 * this software and/or modify this software under the terms of the
 * GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option)
 * any later version.
 *
 * Cleanflight is distributed in the hope that it
 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>

#include "platform.h"

#ifdef USE_BRUSHED_ESC_AUTODETECT

#include "build/build_config.h"

#include "drivers/io.h"
#include "drivers/time.h"
#include "drivers/timer.h"

#include "pwm_esc_detect.h"

static uint8_t hardwareMotorType = MOTOR_UNKNOWN;

void detectBrushedESC(ioTag_t motorIoTag)
{
    IO_t motorDetectPin = IOGetByTag(motorIoTag);
    IOInit(motorDetectPin, OWNER_SYSTEM, 0);
    IOConfigGPIO(motorDetectPin, IOCFG_IPU);

    delayMicroseconds(10);  // allow configuration to settle

    // Check presence of brushed ESC's
    if (IORead(motorDetectPin)) {
        hardwareMotorType = MOTOR_BRUSHLESS;
    } else {
        hardwareMotorType = MOTOR_BRUSHED;
    }
    IORelease(motorDetectPin);
}

uint8_t getDetectedMotorType(void)
{
    return hardwareMotorType;
}
#endif
